CN113777484A - GIS defect detection device and method - Google Patents
GIS defect detection device and method Download PDFInfo
- Publication number
- CN113777484A CN113777484A CN202111330217.5A CN202111330217A CN113777484A CN 113777484 A CN113777484 A CN 113777484A CN 202111330217 A CN202111330217 A CN 202111330217A CN 113777484 A CN113777484 A CN 113777484A
- Authority
- CN
- China
- Prior art keywords
- gis
- obstacle
- detection
- detection device
- roller
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/327—Testing of circuit interrupters, switches or circuit-breakers
- G01R31/3271—Testing of circuit interrupters, switches or circuit-breakers of high voltage or medium voltage devices
- G01R31/3275—Fault detection or status indication
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N23/00—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00
- G01N23/02—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by transmitting the radiation through the material
- G01N23/04—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by transmitting the radiation through the material and forming images of the material
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/04—Analysing solids
- G01N29/06—Visualisation of the interior, e.g. acoustic microscopy
- G01N29/0654—Imaging
- G01N29/069—Defect imaging, localisation and sizing using, e.g. time of flight diffraction [TOFD], synthetic aperture focusing technique [SAFT], Amplituden-Laufzeit-Ortskurven [ALOK] technique
Abstract
The application discloses a GIS defect detection device and a method, which comprises a main control box for supplying power and sending a driving signal, wherein the main control box comprises a support framework with a plurality of rotatable joints, an ultrasonic detection mechanism and an X-ray detection mechanism which are respectively arranged at two end heads of the support framework, and a roller mechanism and a clamping mechanism which are respectively arranged below the two end heads of the support framework; the method for realizing GIS detection based on the detection device can realize automatic detection of the existing in-service GIS, does not need personnel intervention, is safe and reliable, and more importantly, the detection device has extremely strong obstacle crossing capability through multi-joint arrangement, realizes flange crossing of a GIS shell, realizes continuous detection, and avoids huge economic loss caused by large-area power failure due to GIS sudden failure.
Description
Technical Field
The invention relates to the technical field of measurement and detection, in particular to the technical field of GIS defect detection based on measured electrical variables, and specifically relates to a GIS defect detection device and method.
Background
GIS devices have been widely operated around the world since the practical use in the 60's of the 20 th century. GIS is widely used not only in the high-voltage and ultra-high voltage fields, but also in the ultra-high voltage field. Compared with a conventional open-type transformer substation, the GIS has the advantages of compact structure, small occupied area, high reliability, flexible configuration, convenience in installation, high safety, high environmental adaptability, small maintenance workload and maintenance interval of main parts not less than 20 years.
There are three types of high voltage power distribution devices: the first is a conventional electrical distribution device for air, abbreviated as AIS. The bus bar is exposed to directly contact with air, and the breaker can be of a porcelain column type or a tank type. This type is used in the gezhou dam power plant. The second type is a hybrid power distribution device, referred to as H-GIS for short. The bus adopts an open type, and other buses are sulfur hexafluoride gas switch devices. The third is sulfur hexafluoride gas full-closed distribution device. The English is called GAS-INSTULATED SWITCH, GIS for short.
GIS is high-voltage electrical equipment with high operation reliability, less maintenance workload and long overhaul period, the failure rate of the GIS is only 20% -40% of that of conventional equipment, but the GIS also has the inherent defects, and due to the influences of factors such as SF6 gas leakage, external moisture permeation, conductive impurity existence, sub-aging and the like, the GIS internal flashover fault can be caused. The GIS is of a full-sealed structure, so that the fault is difficult to locate and maintain, the maintenance work is complicated, the average power failure maintenance time after the accident is longer than that of conventional equipment, the power failure range is large, and a plurality of non-fault elements are involved.
The traditional GIS diagnosis method uses physical and chemical principles and means, and directly detects the fault through various physical and chemical phenomena accompanying the fault, for example, various means such as vibration, sound, light, heat, electricity, magnetism, ray, chemistry and the like are utilized to observe the change rule and the characteristic of the fault, so as to directly detect and diagnose the fault. The method is visual, quick and effective, but only can detect partial faults. The partial discharge is detected by using a mechanical vibration method, and the method is a monitoring technology without power failure. The basic principle is that once partial discharge occurs, vibration is generated, and a sound vibration collecting device is installed on the outer wall of the equipment to detect sound and vibration. However, in the method, different positions need to be acquired, the fixed acquisition device needs to be continuously disassembled, and the number acquired by the detection method needs to be assisted by X-rays to further judge the fault type. GIS pipe network is complicated, and is higher apart from the ground, and is strong to personnel's dependence, and is inefficient, and the operation is complicated, has certain limitation.
In recent years, a new technology for detecting faults such as partial discharge and mechanical vibration through ultrasonic visualization is developed, and a detection device can observe abnormal noise points on a display screen to quickly determine fault positions only by aligning to a detected object and without direct contact. Is a convenient and efficient detection means. However, the technology can only display the fault position at present, and cannot judge the fault type.
X ray detection is as a high-efficient, harmless, visual detection means in power grid operation and maintenance operation in recent years by wide application, but GIS is because the pipeline diameter is great, and inside electrical components constitute and structure is complicated, and conventional ray detection device operation is put and is wasted time and energy, and once the adjustment is fixed only satisfies single angle and shoots, has certain limitation to judging whether inside has the defect to the accuracy, and detection efficiency is low.
Therefore, the GIS pipe external crawling intelligent detection device is developed, and the functions of ultrasonic detection and X-ray multi-angle rotation detection are carried out. The GIS equipment detection is highly automatic, accurate and efficient. The method reduces the labor cost, maintains the safe and stable operation of the power grid, reduces the power failure times caused by faults, and has obvious economic benefit and social value.
Disclosure of Invention
In order to solve the GIS fault detection problem and avoid huge economic loss caused by large-area power failure due to GIS faults, the application provides a GIS defect detection device and a detection method. The method is used for realizing real-time detection of the working state of the in-service GIS, timely finding out internal faults and avoiding unnecessary economic loss caused by power failure of related power grids due to GIS faults. The invention can realize automatic detection, does not need personnel to intervene, is safe and reliable, and more importantly, the detection device has strong obstacle crossing capability through multi-joint arrangement, realizes flange crossing of the GIS shell, and realizes continuous detection.
In order to achieve the purpose, the technical scheme adopted by the application is as follows:
a GIS defect detection device comprises a main control box for supplying power and sending a driving signal, and comprises a support framework with a plurality of rotatable joints, an ultrasonic detection mechanism and an X-ray detection mechanism which are respectively arranged at two end heads of the support framework, and a roller mechanism and a clamping mechanism which are respectively arranged below the two end heads of the support framework;
the supporting framework comprises a framework main body, a first mounting plate and a second mounting plate, wherein the first mounting plate and the second mounting plate are respectively hinged to two ends of the framework main body through a second rotating joint and a third rotating joint; the framework main body is composed of a first arc-shaped frame and a second arc-shaped frame, wherein the first arc-shaped frame is hinged to the first rotating joint, and the first rotating joint, the second rotating joint and the third rotating joint are driven to deflect through a first driving device, a second driving device and a third driving device respectively.
The working principle is as follows:
the clamping mechanism fixes the whole detection device on the detected GIS shell in a sliding manner, the roller mechanism is driven to rotate through the main control box, so that the running path of the detection device is pushed through the friction between the roller mechanism and the surface of the detected GIS shell, when an obstacle is encountered, if a flange and the like are installed on the GIS shell, the detection device can not smoothly pass through due to the interference between the clamping mechanism and the flange in the normal running path detection state, and the support framework which is arranged by adopting multiple joints can play a vital obstacle crossing role at the moment. The structural change is as follows:
firstly, when an obstacle is encountered and normal traveling path detection cannot be carried out, the main control box sends a driving instruction to the front end clamping mechanism along the traveling path direction to open the front end clamping mechanism, so that the front end of the detection device can be normally separated from the GIS shell. And then, sequentially or simultaneously sending driving signals to the first driving device, the second driving device and the third driving device, so that the first rotating joint, the second rotating joint and the third rotating joint respectively rotate to realize that one end of the detection device, which is close to the obstacle, is tilted upwards, so that one end of the detection device avoids the obstacle, and then executing the recovery to the initial state, wherein the obstacle is located in the center of the detection device. And finally, the main control box sends reverse driving signals to the first driving device, the second driving device and the third driving device again, so that the tail part of the detection device in the traveling direction tilts upwards, the traveling is continued until the obstacle is crossed, and the initial state is restored again, so that the obstacle crossing in the traveling process of the GIS shell is realized.
It is worth to be noted that, in the whole process of traveling and crossing the obstacle, the ultrasonic detection mechanism and the X-ray detection mechanism are both in working states, and the graphic information of the GIS shell and the internal defects is continuously acquired, so that the current working state of the whole GIS is completely detected.
In order to guarantee that detection mechanism can be at GIS casing surface stability path, avoid appearing the phenomenon of skidding, preferably, gyro wheel mechanism including be used for with the gyro wheel that is detected GIS casing contact, the fourth drive arrangement of drive connection gyro wheel is used for the installation the gyro wheel support of gyro wheel, the gyro wheel support through a plurality of canceling release mechanical systems with fixed connection can be dismantled to first mounting panel and/or second mounting panel bottom. The working principle is as follows: the most key structure of the roller mechanism is that the reset mechanism continuously applies positive pressure on the roller support, so that the roller can be attached to the surface of the GIS shell and keeps certain pressure all the time, and the friction force between the roller and the surface of the GIS shell is effectively ensured to be enough to drive the whole detection device to move. It should be noted that the amount of pressure applied to the roller by the reset mechanism in the detection state can be freely set by those skilled in the art according to the actual application requirements, and it is not preferable to increase the pressure as much as possible. It needs to be considered that the larger the pressure applied by the resetting mechanism is, the larger the friction force is, the less the slipping phenomenon is likely to occur, however, in order to meet the GIS with different diameters, the resetting mechanism needs to meet the requirement of a larger telescopic stroke, so that when an obstacle is avoided, the larger the deflection angle of the end head needs to be realized, the stability of the detection device when the obstacle is avoided is reduced, and meanwhile, the higher the requirement on the driving torque of the first driving device, the second driving device and the third driving device is. Therefore, the pressure applied by the reset mechanism only needs to satisfy the traveling path of the detection device.
Preferably, in order to simultaneously consider the stability of the detection device path and the compactness of the structure, the reset mechanism is composed of a plurality of telescopic shafts sleeved with springs.
In order to meet the stability of the detection device on the traveling path of the GIS shell and avoid falling; meanwhile, the obvious resistance is not brought to the traveling path of the detection device; furthermore, can open in a flexible way and the centre gripping when keeping away the barrier, preferably, fixture is including parallel mounting in pairs respectively the slide rail of first mounting panel and second mounting panel bottom, slidable mounting has driven rack in the slide rail, and the equal fixedly connected with of arbitrary driven rack is used for the centre gripping arm of centre gripping GIS casing, is provided with the first drive gear with the driven rack toothing in both sides between two slide rails, first drive gear is connected with the drive of fifth drive arrangement. By adopting the structure, the clamping arm can be clamped/opened quickly through the positive rotation/reverse rotation of the fifth driving device, the structure is simple, the transmission is direct, and the action is efficient.
In order to be compatible with the smoothness of the traveling path and the stability of clamping, preferably, a plurality of ball units are arranged on the inner wall of the clamping arm, and each ball unit consists of a mounting pipe which is detachably and fixedly connected to the inner wall of the clamping arm and a ball which is rotatably embedded in the mounting pipe. The effect of ball is to change sliding friction into rolling friction for detection device is littleer at the in-process resistance of path, but based on the institutional advancement of this principle, does not lose centre gripping stable effect, realizes killing two birds with one stone, all can compromise.
In order to realize the all-round detection, preferably, X ray detection mechanism installs on the second mounting panel, including sixth drive arrangement, the second drive gear of being connected with the drive of sixth drive arrangement to and set up two driven supporting gear in second drive gear below, be provided with the two-sided rack of arc between second drive gear and the driven supporting gear, transmitter and detector are installed respectively to the two-sided rack both ends head of arc. The advantage of adopting above-mentioned structure lies in, can drive second drive gear through second drive arrangement to the two-sided rack of indirect drive arc deflects, realizes the detection to the different radial angles of GIS, reduces the blind area that brings because of detecting the angle limitation or the problem of lou examining.
In order to improve the intelligence and the automation of the detection device and reduce manual access operation, preferably, the ultrasonic detection mechanism is mounted on the first mounting plate and comprises a probe bracket and an ultrasonic probe mounted at the end of the probe bracket; and the first mounting plate or the second mounting plate is also provided with a distance sensor and a binocular camera which are used for detecting obstacles. The distance sensor and the binocular camera can automatically judge the obstacle flanges arranged on the GIS shell, and the detection device can automatically calculate the angles of the first rotary joint, the second rotary joint and the third rotary joint which need to deflect respectively through real-time distance measurement of the distance sensor and size measurement of the binocular camera.
In order to compromise the flexibility that detection device hinders more and the stability of structure, preferably, first arc frame and second arc frame all adopt two-layer structural design, have many strengthening ribs that are used for lifting strength between the two-layer structure, a drive arrangement drive is connected with and runs through the main pivot of first arc frame and second arc frame, a drive arrangement fixed mounting is on second arc frame, main pivot with first arc frame fixed connection.
In order to better exert the effect of the detection device, promote the automation of the detection device and intelligently realize the technical effect of GIS detection, the application also provides a GIS defect detection method, which is realized based on the detection device and specifically comprises the following steps:
STP100, placing the detection device on the detected GIS shell, starting a master control box, and adjusting a clamping mechanism until the clamping mechanism is stably clamped on the detected GIS shell;
STP200, respectively sending working signals to the ultrasonic detection mechanism, the X-ray detection mechanism and the roller mechanism by a main control box according to a preset program, driving the whole detection device to slide along the GIS shell by the roller mechanism, and simultaneously receiving detection image data collected by the ultrasonic detection mechanism and the X-ray detection mechanism in real time by the main control box;
step STP300, when the distance sensor acquires an obstacle, triggering an obstacle avoidance mode, specifically including STP 310-step STP 330:
step STP310, calculating the distance from the lowest point P of the detecting device to the obstacle along the traveling pathDThe calculation method is as follows:
wherein D is the horizontal distance from the P point to the obstacle flange;
Shorizontal distance from the obstacle flange when finding an obstacle for the robot;
vthe running speed of the robot when walking at a constant speed is normal;
aacceleration when the robot performs deceleration movement;
step STP320, calculating the distance H that the lowest point P of the detecting device needs to move along the direction perpendicular to the traveling path while completely avoiding the obstacle, in the following manner:
h is the height of the safe obstacle-crossing flange, and the lowest point P needs to move in the vertical direction;
Rthe radius of the obstacle flange is obtained by measuring through a binocular camera;
rthe radius of the GIS pipeline is obtained by measuring through a binocular camera;
Cthe vertical distance between the lowest point P and the roller in a natural state is a constant;
Fthe total pressure born by the reset mechanism;
kis the modulus of elasticity of the spring;
iis a safety margin coefficient;
step STP330, obtained according to step STP310 and step STP320 respectivelyDAnd H, calculating the optimal angles of the first rotary joint, the second rotary joint and the third rotary joint which need to rotate respectively when the robot smoothly passes through the obstacle1、∆ω2、∆ω3The calculation method is as follows:
wherein the content of the first and second substances,Lthe equivalent length between the axes of the second rotating joint and the third rotating joint;
and step STP400, when one end of the detection device avoids the obstacle, continuing to move until one end crosses the obstacle and then resetting, driving the other end of the detection device to avoid the obstacle according to the step STP300, and continuing to move until the other end completely crosses the obstacle and then returns to the initial state to continue to detect until the detection is finished.
Has the advantages that:
1. the invention can realize high automation, accuracy and high efficiency of GIS equipment detection. The method reduces the labor cost, maintains the safe and stable operation of the power grid, reduces the power failure times caused by faults, and has obvious economic benefit and social value.
2. The obstacle crossing device is provided with multiple joints, and the obstacle crossing is realized through the action of raising the end heads in sequence, so that the stability of the detection device in the obstacle crossing process can be considered, the obstacle crossing capability can be greatly improved, and the external structure with obvious high convexity can be easily crossed.
3. The invention can realize the full axial and multi-path angle detection, avoid the detection dead angle and blind area and present the GIS defect state to the maximum extent.
4. The detection method provided by the invention can fully play the maximum obstacle-crossing advantage of the detection device with the multi-joint structure in the GIS defect detection process, and can realize automatic and intelligent detection, reduce manual intervention and avoid radiation injury of workers due to high-voltage radiation.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without inventive exercise.
Fig. 1 is an isometric view of a detection device.
Fig. 2 is an enlarged view of the structure of region a in fig. 1.
Fig. 3 is an isometric view of the gripper mechanism construction.
Fig. 4 is an inverted visual isometric view of fig. 1.
Fig. 5 is a left side view of fig. 1.
Fig. 6 is a top view of fig. 4.
Fig. 7 is an enlarged view of the structure of region B in fig. 6.
Fig. 8 is a front view of fig. 4.
Fig. 9 is a schematic view of the detection device in a detection state.
Fig. 10 is a schematic view of the detection device in the process of obstacle crossing.
Fig. 11 is a schematic view of the state of the detection device when the obstacle crossing state is achieved.
In the figure: 1-supporting a framework; 11-a first drive; 12-a main shaft; 13-a first arc-shaped frame; 14-a second arc-shaped frame; 15-reinforcing ribs; 16-a first mounting plate; 17-a second mounting plate; 18-a second drive; 19-a third drive;
2-an ultrasonic detection mechanism; 21-an ultrasound probe; 22-probe holder;
3-a roller mechanism; 31-a roller; 32-a fourth drive; 33-a roller support; 34-a reset mechanism;
4-a clamping mechanism; 41-fifth drive means; 42-a clamping arm; 43-a slide rail; 44-a ball unit; 45-distance sensor; 46-binocular camera; 47-first drive gear; 48-driven rack;
5-an X-ray detection mechanism; 51-a detector; 52-arc double-sided rack; 53-a transmitter; 54-sixth drive means; 55-second drive gear.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present application, it should be noted that if the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are used for indicating the orientation or positional relationship based on the orientation or positional relationship shown in the drawings or the orientation or positional relationship which is usually placed when the product of the application is used, the description is only for convenience and simplicity, and the indication or suggestion that the referred device or element must have a specific orientation, be constructed in a specific orientation and be operated, and thus, should not be construed as limiting the present application. Furthermore, the appearances of the terms "first," "second," and the like in the description herein are only used for distinguishing between similar elements and are not intended to be construed as indicating or implying relative importance.
Furthermore, the terms "horizontal", "vertical" and the like when used in the description of the present application do not require that the components be absolutely horizontal or overhanging, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the present application, it should also be noted that, unless otherwise explicitly stated or limited, the terms "disposed," "mounted," "connected," and "connected" should be interpreted broadly, e.g., as being fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
Example 1:
the GIS defect detection device shown in the attached figures 1, 9-11 of the combined description comprises a main control box for supplying power and sending a driving signal, and comprises a support framework 1 with a plurality of rotatable joints, an ultrasonic detection mechanism 2 and an X-ray detection mechanism 5 which are respectively arranged at two ends of the support framework 1, and a roller mechanism 3 and a clamping mechanism 4 which are respectively arranged below the two ends of the support framework 1;
the supporting framework 1 comprises a framework main body, a first mounting plate 16 and a second mounting plate 17 which are respectively hinged to two ends of the framework main body through a second rotary joint and a third rotary joint; the framework main body is composed of a first arc-shaped frame 13 and a second arc-shaped frame 14 which are hinged through a first rotating joint, and the first rotating joint, the second rotating joint and the third rotating joint are driven to deflect through a first driving device 11, a second driving device 18 and a third driving device 19 respectively.
The working principle is as follows:
firstly, when an obstacle is encountered and normal traveling path detection cannot be carried out, the main control box sends a driving instruction to the front end clamping mechanism 4 along the traveling path direction to open the front end clamping mechanism, so that the front end of the detection device can be normally separated from the GIS shell. And then, sequentially or simultaneously sending driving signals to the first driving device 11, the second driving device 18 and the third driving device 19, so that the first rotating joint, the second rotating joint and the third rotating joint respectively rotate to realize that one end of the detection device close to the obstacle tilts upwards, so that one end of the detection device avoids the obstacle, and then performing recovery to the initial state, wherein the obstacle is located in the center of the detection device. And finally, the main control box sends reverse driving signals to the first driving device 11, the second driving device 18 and the third driving device 19 again, so that the tail part of the detection device along the traveling path direction tilts upwards, the traveling path is continued until the obstacle is crossed, and the initial state is restored again, so that the obstacle crossing in the traveling path process of the GIS shell is realized.
It is worth to be noted that, in the whole process of traveling and crossing an obstacle, the ultrasonic detection mechanism 2 and the X-ray detection mechanism 5 are both in working states, and graphic information of the GIS shell and internal defects is continuously acquired, so that the current working state of the whole GIS is completely detected.
Example 2:
on the basis of embodiment 1, the present embodiment further refines and defines the roller mechanism 3, specifically, in order to ensure that the detection device can stably travel on the surface of the GIS housing, and avoid the occurrence of a slip phenomenon, in the present embodiment, the roller mechanism 3 includes a roller 31 for contacting with the detected GIS housing, a fourth driving device 32 for driving the connecting roller 31, and a roller bracket 33 for mounting the roller 31, where the roller bracket 33 is detachably and fixedly connected to the bottoms of the first mounting plate 16 and/or the second mounting plate 17 through a plurality of reset mechanisms 34. Specifically, the structure is shown in fig. 2. The working principle is as follows: the most critical structure of the roller mechanism 3 is that the reset mechanism 34 continuously applies positive pressure on the roller bracket 33, so that the roller 31 can always be attached to the surface of the GIS housing and maintain a certain pressure, thereby effectively ensuring that the friction force between the roller 31 and the surface of the GIS housing is enough to drive the whole detection device to travel. It should be noted that the amount of pressure applied to the roller 31 by the reset mechanism 34 in the detection state can be freely set by those skilled in the art according to the actual application requirements, and is not necessarily larger as better. It should be considered that, the larger the pressure applied by the resetting mechanism 34 is, although the larger the friction force is, the less the slipping phenomenon is likely to occur, in order to meet the GIS with different diameters, the resetting mechanism 34 needs to meet the requirement of a larger telescopic stroke, so that when an obstacle is avoided, a larger deflection angle of the end head needs to be realized, which will reduce the stability of the detection device when the obstacle is avoided, and the higher the requirement on the driving torque of the first driving device 11, the second driving device 18 and the third driving device 19 is. Therefore, the pressure applied by the return mechanism 34 is sufficient to satisfy the detection device path. In order to simultaneously consider the stability of the traveling path of the detection device and the compactness of the structure, the reset mechanism 34 in this embodiment is composed of a plurality of telescopic shafts sleeved with springs.
Example 3:
in order to meet the stability of the detection device on the traveling path of the GIS shell and avoid falling; meanwhile, the obvious resistance is not brought to the traveling path of the detection device; moreover, the flexible opening and clamping can be performed during obstacle avoidance, and in this embodiment, on the basis of any one of the above embodiments, as further shown in fig. 3, the clamping mechanism 4 is further refined, specifically: fixture 4 is including respectively in pairs parallel mount the slide rail 43 of first mounting panel 16 and second mounting panel 17 bottom, slidable mounting has driven rack 48 in slide rail 43, and the equal fixedly connected with of arbitrary driven rack 48 is used for the centre gripping arm 42 of centre gripping GIS casing, is provided with the first drive gear 47 with the driven rack 48 meshing in both sides between two slide rails 43, first drive gear 47 and fifth drive arrangement 41 drive connection. By adopting the structure, the clamping/opening of the clamping arm 42 can be realized through the positive rotation/reverse rotation of the fifth driving device 41, the structure is simple, the transmission is direct, and the action is efficient. In order to be compatible with the smoothness of the traveling path and the stability of the clamping, a plurality of ball units 44 are arranged on the inner wall of the clamping arm 42, and each ball unit 44 consists of a mounting pipe which is detachably and fixedly connected to the inner wall of the clamping arm 42 and a ball which is rotatably embedded on the mounting pipe. The effect of ball is to change sliding friction into rolling friction for detection device is littleer at the in-process resistance of path, but based on the institutional advancement of this principle, does not lose centre gripping stable effect, realizes killing two birds with one stone, all can compromise.
Example 4:
in order to realize the omnibearing detection, as shown in fig. 4-8 in the specification, in this embodiment, based on the structure and principle of embodiment 3, the structure is further refined and defined, the X-ray detection mechanism 5 is mounted on the second mounting plate 17, and includes a sixth driving device 54, a second driving gear 55 in driving connection with the sixth driving device 54, and two driven support gears disposed below the second driving gear 55, an arc-shaped double-sided rack 52 is disposed between the second driving gear 55 and the driven support gears, and an emitter 53 and a detector 51 are respectively mounted at two ends of the arc-shaped double-sided rack 52, as shown in fig. 4 and 6. The advantage of adopting above-mentioned structure lies in, can be through second drive arrangement 18 drive second drive gear 55 to the two-sided rack 52 of indirect drive arc deflects, realizes the detection to the different radial angles of GIS, reduces the blind area that brings because of detecting the angle limitation or the problem of lou examining.
In order to improve the intelligence and the automation of the detection device and reduce the manual access operation, the ultrasonic detection mechanism 2 is mounted on the first mounting plate 16 and comprises a probe bracket 22 and an ultrasonic probe 21 mounted at the end of the probe bracket 22; and a distance sensor 45 and a binocular camera 46 for detecting obstacles are further mounted on the first mounting plate 16 or the second mounting plate 17. The distance sensor 45 and the binocular camera 46 can automatically judge the obstacle flanges arranged on the GIS shell, and the detection device can automatically calculate the angles of the first rotary joint, the second rotary joint and the third rotary joint which need to deflect respectively through real-time distance measurement of the distance sensor 45 and size measurement of the binocular camera 46.
In order to compromise the flexibility that detection device hinders more and the stability of structure, in this embodiment, first arc frame 13 and second arc frame 14 all adopt two-layer structural design, have many strengthening ribs 15 that are used for lifting strength between the two-layer structure, 11 drive connections of first drive arrangement have and run through the main pivot 12 of first arc frame 13 and second arc frame 14, 11 fixed mounting of first drive arrangement are on second arc frame 14, main pivot 12 with first arc frame 13 fixed connection.
Example 5:
in order to better exert the effect of the detection device, improve the automation of the detection device and intelligently realize the technical effect of GIS detection, the application also provides a GIS defect detection method, which is realized by adopting the detection device in the embodiment 4 and specifically comprises the following steps:
STP100, placing the detection device on the detected GIS shell, starting a master control box, and adjusting a clamping mechanism 4 until the clamping mechanism 4 is stably clamped on the detected GIS shell;
STP200, respectively sending working signals to the ultrasonic detection mechanism 2, the X-ray detection mechanism 5 and the roller mechanism 3 by a main control box according to a preset program, driving the whole detection device to slide along the GIS shell by the roller mechanism 3, and simultaneously receiving detection image data collected by the ultrasonic detection mechanism 2 and the X-ray detection mechanism 5 by the main control box in real time;
step STP300, when the distance sensor 45 acquires an obstacle, triggering an obstacle avoidance mode, specifically including steps STP310 to STP 330:
step STP310, calculating the distance from the lowest point P of the detecting device to the obstacle along the traveling pathDThe calculation method is as follows:
wherein D is the horizontal distance from the P point to the obstacle flange;
Shorizontal distance from the obstacle flange when finding an obstacle for the robot;
vthe running speed of the robot when walking at a constant speed is normal;
aacceleration when the robot performs deceleration movement;
step STP320, calculating the distance H that the lowest point P of the detecting device needs to move along the direction perpendicular to the traveling path while completely avoiding the obstacle, in the following manner:
h is the height of the safe obstacle-crossing flange, and the lowest point P needs to move in the vertical direction;
Rthe radius of the obstacle flange is obtained by measuring through a binocular camera;
rthe radius of the GIS pipeline is obtained by measuring through a binocular camera;
Cthe vertical distance between the lowest point P and the roller in a natural state is a constant;
Fthe total pressure born by the reset mechanism;
kis the modulus of elasticity of the spring;
iis a safety margin coefficient;
step STP330, according to step STP310 and step STP320 obtained separatelyDAnd H, calculating the optimal angles of the first rotary joint, the second rotary joint and the third rotary joint which need to rotate respectively when the robot smoothly passes through the obstacle1、∆ω2、∆ω3The calculation method is as follows:
wherein the content of the first and second substances,Lthe equivalent length between the axes of the second rotating joint and the third rotating joint;
and step STP400, when one end of the detection device avoids the obstacle, continuing to move until one end crosses the obstacle and then resetting, driving the other end of the detection device to avoid the obstacle according to the step STP300, and continuing to move until the other end completely crosses the obstacle and then returns to the initial state to continue to detect until the detection is finished.
It should be noted that, in the present embodiment, the distance sensor 45 may be a commercially available product, and for example, the distance sensor manufactured by shenzhen aengjie electronics ltd and having a model number GP2Y0a21YK0F in the present embodiment has an effective sensing distance range of 10cm to 80cm, which provides a wider range for debugging the system. The deflection angles of the first rotary joint, the second rotary joint and the third rotary joint are respectively transmitted to the first driving device 11, the second driving device 18 and the third driving device 19 through controlling the main control box to realize driving, wherein the first driving device 11, the second driving device 18 and the third driving device 19 in the embodiment are driven by a servo motor of the type ECMA-C20604SS manufactured by Taida electronics industries, Ltd. Of course, based on the requirements of cost and control precision, the method is also indicated by the concept of the applicationCan adopt the servo suit of other models, because current servo suit model is more, and the control mode is present, and it is unnecessary here to describe, enumerate. In this embodiment, a binocular camera for measuring obstacle flange diameter adopts current raspberry group V2 model binocular camera, and its advantage lies in that the integrated level is high, and measurement accuracy is high, and the reaction is rapid, can advantages such as direct use. After the obstacle information is collected by the sensors 45 and the binocular camera 46, the angle Δ ω of the first rotary joint, the second rotary joint and the third rotary joint which need to deflect to avoid the current obstacle is obtained through the calculation of the main control computer1、∆ω2、∆ω3And sends corresponding driving signals to realize obstacle avoidance deflection. The obstacle avoidance structure can realize smooth obstacle avoidance of large-diameter obstacles, and avoids the problem of inconsistent detection caused by the fact that the conventional detection device needs to manually avoid the obstacles or can only be applied to small obstacles to avoid the obstacles.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (9)
1. A GIS defect detecting device comprises a main control box for supplying power and transmitting a driving signal, and is characterized in that: the device comprises a supporting framework (1) with a plurality of rotatable joints, an ultrasonic detection mechanism (2) and an X-ray detection mechanism (5) which are respectively arranged at two end heads of the supporting framework (1), and a roller mechanism (3) and a clamping mechanism (4) which are respectively arranged below the two end heads of the supporting framework (1);
the supporting framework (1) comprises a framework main body, a first mounting plate (16) and a second mounting plate (17) which are respectively hinged to two ends of the framework main body through a second rotating joint and a third rotating joint; the framework main body is composed of a first arc-shaped frame (13) and a second arc-shaped frame (14) which are hinged through a first rotating joint, and the first rotating joint, the second rotating joint and the third rotating joint are driven to deflect through a first driving device (11), a second driving device (18) and a third driving device (19) respectively.
2. The GIS defect detecting apparatus of claim 1, wherein: the roller mechanism (3) comprises a roller (31) which is in contact with a detected GIS shell, a fourth driving device (32) which is in driving connection with the roller (31), and a roller bracket (33) which is used for installing the roller (31), wherein the roller bracket (33) is detachably and fixedly connected with the bottoms of the first mounting plate (16) and/or the second mounting plate (17) through a plurality of resetting mechanisms (34).
3. The GIS defect detecting apparatus of claim 2, wherein: the reset mechanism (34) is composed of a plurality of telescopic shafts which are sleeved with springs.
4. The GIS defect detecting apparatus according to any one of claims 1-3, wherein: fixture (4) are including being in pairs parallel mount respectively slide rail (43) of first mounting panel (16) and second mounting panel (17) bottom, slidable mounting has driven rack (48) in slide rail (43), and the equal fixedly connected with of arbitrary driven rack (48) is used for centre gripping GIS casing centre gripping arm (42), is provided with between two slide rails (43) with the driven rack (48) meshing's in both sides first drive gear (47), first drive gear (47) are connected with fifth drive arrangement (41) drive.
5. The GIS defect detection device of claim 4, wherein: the clamping arm is characterized in that a plurality of ball units (44) are arranged on the inner wall of the clamping arm (42), and each ball unit (44) is composed of a mounting pipe which is detachably and fixedly connected to the inner wall of the clamping arm (42) and a ball which is rotatably embedded into the mounting pipe.
6. The GIS defect detection device of claim 5, wherein: x ray detection mechanism (5) are installed on second mounting panel (17), including sixth drive arrangement (54), second drive gear (55) with sixth drive arrangement (54) drive connection to and set up two driven supporting gear in second drive gear (55) below, be provided with two-sided rack of arc (52) between second drive gear (55) and the driven supporting gear, emitter (53) and detector (51) are installed respectively to two ends of two-sided rack of arc (52).
7. The GIS defect detection device of claim 6, wherein: the ultrasonic detection mechanism (2) is arranged on the first mounting plate (16) and comprises a probe bracket (22) and an ultrasonic probe (21) arranged at the end of the probe bracket (22); and the first mounting plate (16) or the second mounting plate (17) is also provided with a distance sensor (45) for detecting obstacles and a binocular camera (46).
8. The GIS defect detecting apparatus of claim 7, wherein: first arc frame (13) and second arc frame (14) all adopt two-layer structural design, have many strengthening ribs (15) that are used for lifting strength between the two-layer structure, first drive arrangement (11) drive is connected with and runs through main pivot (12) of first arc frame (13) and second arc frame (14), first drive arrangement (11) fixed mounting is on second arc frame (14), main pivot (12) with first arc frame (13) fixed connection.
9. A GIS defect detection method is characterized in that: the detection device implementation of claim 8, specifically comprising the steps of:
STP100, placing the detection device on the detected GIS shell, starting the master control box, and adjusting the clamping mechanism (4) until the clamping mechanism (4) is stably clamped on the detected GIS shell;
STP200, respectively sending working signals to the ultrasonic detection mechanism (2), the X-ray detection mechanism (5) and the roller mechanism (3) by a main control box according to a preset program, driving the whole detection device to slide along the GIS shell by the roller mechanism (3), and simultaneously receiving detection image data collected by the ultrasonic detection mechanism (2) and the X-ray detection mechanism (5) by the main control box in real time;
step STP300, when the distance sensor (45) collects an obstacle, triggering an obstacle avoidance mode, specifically comprising steps STP310 to STP 330:
step STP310, calculating the distance from the lowest point P of the detecting device to the obstacle along the traveling pathDThe calculation method is as follows:
wherein the content of the first and second substances,Dthe horizontal distance from the point P to the barrier flange;
Shorizontal distance from the obstacle flange when finding an obstacle for the robot;
vthe running speed of the robot when walking at a constant speed is normal;
aacceleration when the robot performs deceleration movement;
step STP320, calculating the distance H that the lowest point P of the detecting device needs to move along the direction perpendicular to the traveling path while completely avoiding the obstacle, in the following manner:
h is a height for safely crossing the obstacle flange, and the lowest point P needs to move in the vertical direction;
Rthe radius of the obstacle flange is obtained by measuring through a binocular camera;
rthe radius of the GIS pipeline is obtained by measuring through a binocular camera;
Cthe vertical distance between the lowest point P and the roller in a natural state is a constant;
Fthe total pressure born by the reset mechanism;
kis the modulus of elasticity of the spring;
iis a safety margin coefficient;
step STP330, obtained according to step STP310 and step STP320 respectivelyDAnd H, calculating the optimal angles of the first rotary joint, the second rotary joint and the third rotary joint which need to rotate respectively when the robot smoothly passes through the obstacle1、∆ω2、∆ω3The calculation method is as follows:
wherein the content of the first and second substances,Lthe equivalent length between the axes of the second rotating joint and the third rotating joint;
and step STP400, when one end of the detection device avoids the obstacle, continuing to move until one end crosses the obstacle and then resetting, driving the other end of the detection device to avoid the obstacle according to the step STP300, and continuing to move until the other end completely crosses the obstacle and then returns to the initial state to continue to detect until the detection is finished.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111330217.5A CN113777484B (en) | 2021-11-11 | 2021-11-11 | GIS defect detection device and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111330217.5A CN113777484B (en) | 2021-11-11 | 2021-11-11 | GIS defect detection device and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113777484A true CN113777484A (en) | 2021-12-10 |
| CN113777484B CN113777484B (en) | 2022-01-25 |
Family
ID=78873752
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111330217.5A Active CN113777484B (en) | 2021-11-11 | 2021-11-11 | GIS defect detection device and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113777484B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116773566A (en) * | 2023-06-12 | 2023-09-19 | 同方威视技术股份有限公司 | Detection device and detection method for detecting battery cell |
| CN116908222A (en) * | 2023-09-13 | 2023-10-20 | 广东天信电力工程检测有限公司 | X-ray detection method and system for GIS equipment faults |
| CN117074443A (en) * | 2023-10-17 | 2023-11-17 | 广东天信电力工程检测有限公司 | X-ray nondestructive testing robot for power transmission line |
| CN117646874A (en) * | 2024-01-30 | 2024-03-05 | 水发能源集团有限公司 | Gas pipeline leakage detection device |
Citations (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6469207A (en) * | 1987-09-08 | 1989-03-15 | Mitsubishi Electric Corp | Self-propelling machine |
| CN101196551A (en) * | 2007-05-10 | 2008-06-11 | 北京深浪电子技术有限公司 | Ground wire patrol checking robot of high voltage power line |
| JP2010271250A (en) * | 2009-05-22 | 2010-12-02 | Nippon Steel Pipeline Co Ltd | Traveling piping inspection apparatus for pipeline, and piping inspection method |
| CN102621983A (en) * | 2012-04-01 | 2012-08-01 | 山东鲁能智能技术有限公司 | Travelling mechanism for insulator inspection robot |
| KR101277118B1 (en) * | 2013-01-22 | 2013-06-20 | (주) 주암전기통신 | A apparatus for overcoming obstacles in power transmission line |
| CN104503451A (en) * | 2014-11-27 | 2015-04-08 | 华南农业大学 | Obstacle-avoidance automatic guidance method and automatic guided vehicle based on vision and ultrasonic sensing |
| CN104881031A (en) * | 2015-05-29 | 2015-09-02 | 南京理工大学 | Power system track type automatic inspection robot |
| CN105159295A (en) * | 2015-09-08 | 2015-12-16 | 云南电网有限责任公司电力科学研究院 | X-ray nondestructive testing platform coordination control method |
| CN105500362A (en) * | 2015-12-23 | 2016-04-20 | 莆田市云驰新能源汽车研究院有限公司 | Control system for multi-joint omnidirectional type pipe-out robot |
| CN106501289A (en) * | 2016-12-26 | 2017-03-15 | 广东电网有限责任公司电力科学研究院 | A kind of GIS device field X-ray detection and linear scanning three-dimensional image forming apparatus |
| CN108008016A (en) * | 2018-01-03 | 2018-05-08 | 国网安徽省电力有限公司电力科学研究院 | Power cable and connector nondestructive detection system and method based on X-ray and ultrasonic in combination detection |
| CN109478070A (en) * | 2016-08-04 | 2019-03-15 | 深圳市大疆创新科技有限公司 | Obstacle recognition and preventing collision method and system |
| CN110103196A (en) * | 2019-06-19 | 2019-08-09 | 广东电网有限责任公司 | The robot for overhauling of GIS a kind of and the examination and repair system of GIS |
| US10613429B1 (en) * | 2017-08-29 | 2020-04-07 | Talon Aerolytics (Holding), Inc. | Unmanned aerial vehicle with attached apparatus for X-ray analysis of power lines |
| CN110998299A (en) * | 2018-03-31 | 2020-04-10 | 筑波科技株式会社 | X-ray inspection device for unmanned aerial vehicle, X-ray inspection device using unmanned aerial vehicle, and X-ray generation device for unmanned aerial vehicle |
| CN211528254U (en) * | 2020-01-19 | 2020-09-18 | 四川赛康智能科技股份有限公司 | Transmitter supporting device for X-ray flaw detection of GIS equipment |
| CN112180300A (en) * | 2019-07-04 | 2021-01-05 | 发那科株式会社 | Inspection device and robot device provided with inspection device |
| CN112787265A (en) * | 2021-01-29 | 2021-05-11 | 四川赛康智能科技股份有限公司 | Transmission line electrified X-ray detection and cleaning integrated obstacle crossing robot |
-
2021
- 2021-11-11 CN CN202111330217.5A patent/CN113777484B/en active Active
Patent Citations (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6469207A (en) * | 1987-09-08 | 1989-03-15 | Mitsubishi Electric Corp | Self-propelling machine |
| CN101196551A (en) * | 2007-05-10 | 2008-06-11 | 北京深浪电子技术有限公司 | Ground wire patrol checking robot of high voltage power line |
| JP2010271250A (en) * | 2009-05-22 | 2010-12-02 | Nippon Steel Pipeline Co Ltd | Traveling piping inspection apparatus for pipeline, and piping inspection method |
| CN102621983A (en) * | 2012-04-01 | 2012-08-01 | 山东鲁能智能技术有限公司 | Travelling mechanism for insulator inspection robot |
| KR101277118B1 (en) * | 2013-01-22 | 2013-06-20 | (주) 주암전기통신 | A apparatus for overcoming obstacles in power transmission line |
| CN104503451A (en) * | 2014-11-27 | 2015-04-08 | 华南农业大学 | Obstacle-avoidance automatic guidance method and automatic guided vehicle based on vision and ultrasonic sensing |
| CN104881031A (en) * | 2015-05-29 | 2015-09-02 | 南京理工大学 | Power system track type automatic inspection robot |
| CN105159295A (en) * | 2015-09-08 | 2015-12-16 | 云南电网有限责任公司电力科学研究院 | X-ray nondestructive testing platform coordination control method |
| CN105500362A (en) * | 2015-12-23 | 2016-04-20 | 莆田市云驰新能源汽车研究院有限公司 | Control system for multi-joint omnidirectional type pipe-out robot |
| CN109478070A (en) * | 2016-08-04 | 2019-03-15 | 深圳市大疆创新科技有限公司 | Obstacle recognition and preventing collision method and system |
| CN106501289A (en) * | 2016-12-26 | 2017-03-15 | 广东电网有限责任公司电力科学研究院 | A kind of GIS device field X-ray detection and linear scanning three-dimensional image forming apparatus |
| US10613429B1 (en) * | 2017-08-29 | 2020-04-07 | Talon Aerolytics (Holding), Inc. | Unmanned aerial vehicle with attached apparatus for X-ray analysis of power lines |
| CN108008016A (en) * | 2018-01-03 | 2018-05-08 | 国网安徽省电力有限公司电力科学研究院 | Power cable and connector nondestructive detection system and method based on X-ray and ultrasonic in combination detection |
| CN110998299A (en) * | 2018-03-31 | 2020-04-10 | 筑波科技株式会社 | X-ray inspection device for unmanned aerial vehicle, X-ray inspection device using unmanned aerial vehicle, and X-ray generation device for unmanned aerial vehicle |
| CN110103196A (en) * | 2019-06-19 | 2019-08-09 | 广东电网有限责任公司 | The robot for overhauling of GIS a kind of and the examination and repair system of GIS |
| CN112180300A (en) * | 2019-07-04 | 2021-01-05 | 发那科株式会社 | Inspection device and robot device provided with inspection device |
| CN211528254U (en) * | 2020-01-19 | 2020-09-18 | 四川赛康智能科技股份有限公司 | Transmitter supporting device for X-ray flaw detection of GIS equipment |
| CN112787265A (en) * | 2021-01-29 | 2021-05-11 | 四川赛康智能科技股份有限公司 | Transmission line electrified X-ray detection and cleaning integrated obstacle crossing robot |
Non-Patent Citations (3)
| Title |
|---|
| 唐德谦 等: "智能巡检机器人的电缆缺陷检测关键技术研究", 《机械与电子》 * |
| 蔡晓兰 等: "基于超声波和X射线数字实时成像系统的GIS内部缺陷检测方法", 《2011年云南电力技术论坛论文集》 * |
| 马飞越 等: "GIS设备内部检查机器人的模块化设计及实现", 《宁夏电力》 * |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116773566A (en) * | 2023-06-12 | 2023-09-19 | 同方威视技术股份有限公司 | Detection device and detection method for detecting battery cell |
| CN116908222A (en) * | 2023-09-13 | 2023-10-20 | 广东天信电力工程检测有限公司 | X-ray detection method and system for GIS equipment faults |
| CN116908222B (en) * | 2023-09-13 | 2023-12-19 | 广东天信电力工程检测有限公司 | X-ray detection method and system for GIS equipment faults |
| CN117074443A (en) * | 2023-10-17 | 2023-11-17 | 广东天信电力工程检测有限公司 | X-ray nondestructive testing robot for power transmission line |
| CN117646874A (en) * | 2024-01-30 | 2024-03-05 | 水发能源集团有限公司 | Gas pipeline leakage detection device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113777484B (en) | 2022-01-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113777484B (en) | GIS defect detection device and method | |
| WO2017126820A1 (en) | Variable flying robot | |
| CN109877846A (en) | A kind of intelligent inspection robot | |
| CN104438165A (en) | Insulator cleaning robot system | |
| CN105945900A (en) | Indoor inspection robot for transformer substation | |
| CN205469362U (en) | Transformer station inspection robot with pole -climbing function | |
| Hongguang et al. | Research of power transmission line maintenance robots in SIACAS | |
| CN204276404U (en) | A kind of insulator cleaning robot system | |
| CN113757483A (en) | Pipeline environment detection robot and detection method | |
| CN109591030A (en) | A kind of interior crusing robot | |
| CN204008928U (en) | A kind of horizontal simply connected insulator chain detects robot system | |
| CN205685324U (en) | A kind of gantry truss-like indoor substation crusing robot | |
| CN210221844U (en) | Cable laying detection device | |
| CN110456497A (en) | A kind of dedicated endoscope of substation equipment maintenance and repair | |
| CN215910029U (en) | Detection device for door closing impact force of elevator door | |
| CN216000499U (en) | Driving mechanism of rail hanging robot and rail hanging robot | |
| CN217931465U (en) | Movable high-energy ray device for detecting defects of GIS (gas insulated switchgear) of extra-high voltage station | |
| CN214337239U (en) | Movable transformer substation monitoring device | |
| CN209280637U (en) | A kind of visual ultrasonic fast inspection device for transmission and distribution line line inspection | |
| CN209650397U (en) | A kind of wheeled crusing robot of universal 4 wheel driven of more scenes | |
| CN115308238A (en) | Movable high-energy ray device for detecting defects of GIS (gas insulated switchgear) of extra-high voltage station | |
| CN202935465U (en) | High-voltage electric transmission line patrol and operation robot driving arm | |
| CN115893197B (en) | Electric shock prevention early warning device for operation of nearby live body | |
| CN215376377U (en) | Intelligent inspection device for monitoring line faults | |
| CN214700135U (en) | A intelligent vehicle part of marcing for toilet detects |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |